TACOS/include/sta/tacos/watchdog.hpp

#ifndef STA_TACOS_WATCHDOG_HPP
#define STA_TACOS_WATCHDOG_HPP

#include <sta/config.hpp>
#ifdef STA_TACOS_WATCHDOG_ENABLED

#ifndef STA_TACOS_WATCHDOG_PRIORITY
#	error "TACOS watchdog priority was not specified!"
#endif // STA_TACOS_WATCHDOG_PRIORITY

#ifndef STA_TACOS_WATCHDOG_FREQUENCY
#	error "TACOS watchdog frequency was not specified!"
#endif // STA_TACOS_WATCHDOG_FREQUENCY


#include <sta/tacos/thread.hpp>


/**
 * @defgroup tacos_watchdog Watchdog Task
 * @ingroup tacos
 * @brief Watchdog class for TACOS.
 */

namespace sta
{
    namespace tacos
    {
        /**
         * @brief Watchdog class for TACOS using singleton pattern.
         * 
		 * @ingroup tacos_watchdog
         */
        class Watchdog: public TacosThread
		{
		public:
			/**
			 * @brief Getter for the singleton instance. Constructs the instance if no exists.
			 * 
			 * @ingroup tacos_watchdog
			 */
			static Watchdog* instance()
			{
				static CGuard g;

				if (!_instance)
				{
					// Create the watchdog singleton instance.
					Watchdog::_instance = new Watchdog();
				}

				return _instance;
			}

			void func() override;

			/**
			 * @brief Get the number of thread restarts during the program's runtime.
			 * 
			 * @return uint16_t The number of thread restarts. 
			 */
			uint16_t getNumRestarts();
		private:
            static Watchdog* _instance;

            class CGuard
			{
			public:
			   ~CGuard()
			   {
				  if( NULL != Watchdog::_instance )
				  {
					 delete Watchdog::_instance;
					 Watchdog::_instance = NULL;
				  }
			   }
			};

            Watchdog();

			Watchdog(const Watchdog&);

			~Watchdog() {}
		private:
			uint16_t restarts_;
		};
    } // namespace tacos
} // namespace sta

#endif // STA_TACOS_WATCHDOG_ENABLED

#endif // STA_TACOS_WATCHDOG_HPP